add fixed point type to algo type struct #49

TheGreenBox · May 17, 2014 · 012215e · 012215e
1 parent b8c2447
commit 012215e
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Showing 4 changed files with 8 additions and 10 deletions.
diff --git a/firmware/SatStepperBegin/algo_types.c b/firmware/SatStepperBegin/algo_types.c
@@ -2,18 +2,19 @@
 #include "utils/macros.h"
 #include "state.h"
 #include "algo_types.h"
+#include "pwm_wrap_module.h"
 
 static const int_fast8_t onePhaseAlgoA[ONE_PHASE_ALGO_STEPS]   = {1, 0, -1,  0};
 static const int_fast8_t onePhaseAlgoB[ONE_PHASE_ALGO_STEPS]   = {0, 1,  0, -1};
-static const float onePhasePwmCoeff[ONE_PHASE_ALGO_PWM_STEPS]  = {1};
+static const uint16_t onePhasePwmCoeff[ONE_PHASE_ALGO_PWM_STEPS]  = {1 * PWM_COEFF_DEVIDER};
 
 static const int_fast8_t twoPhaseAlgoA[TWO_PHASE_ALGO_STEPS]   = {1, -1, -1,  1};
 static const int_fast8_t twoPhaseAlgoB[TWO_PHASE_ALGO_STEPS]   = {1,  1, -1, -1};
-static const float twoPhasePwmCoeff[TWO_PHASE_ALGO_PWM_STEPS]  = {1};
+static const uint16_t twoPhasePwmCoeff[TWO_PHASE_ALGO_PWM_STEPS]  = {1 * PWM_COEFF_DEVIDER};
 
 static const int_fast8_t halfPhaseAlgoA[HALF_PHASE_ALGO_STEPS] = {1, 1, 0, -1, -1, -1,  0,  1};
 static const int_fast8_t halfPhaseAlgoB[HALF_PHASE_ALGO_STEPS] = {0, 1, 1,  1,  0, -1, -1, -1};
-static const float halfPhasePwmCoeff[HALF_PHASE_ALGO_PWM_STEPS]= {1, 0.707};
+static const uint16_t halfPhasePwmCoeff[HALF_PHASE_ALGO_PWM_STEPS]= {1 * PWM_COEFF_DEVIDER, 0.707 * PWM_COEFF_DEVIDER};
 
 AlgoParams onePhaseParameters = {
     onePhaseAlgoA,

diff --git a/firmware/SatStepperBegin/algo_types.h b/firmware/SatStepperBegin/algo_types.h
@@ -9,7 +9,7 @@ typedef struct _AlgoParams {
 
     const uint_fast8_t algoStepsNumber;
 
-    const float* pwmCoeff;
+    const uint16_t* pwmCoeff;
     const uint_fast8_t algoPwmStepsNumber;
 
     const uint_fast8_t engineStepMultiplier;

diff --git a/firmware/SatStepperBegin/control_algo.h b/firmware/SatStepperBegin/control_algo.h
@@ -11,13 +11,10 @@
 #define _CONTROL_ALGO_INCLUDED_
 
 #include <stdint.h>
-<<<<<<< HEAD
-void stop();
-=======
 
 void setAlgoType(uint_fast8_t algoType);
-
->>>>>>> b68f208957db667fc155d4ba94757c241cd9bfb0
+
+void stop();
 void step(int_fast8_t dist);
 
 void nextStep();

diff --git a/firmware/SatStepperBegin/pwm_wrap_module.h b/firmware/SatStepperBegin/pwm_wrap_module.h
@@ -17,7 +17,7 @@ void initPwm(uint16_t prescaler);
 void setPwm(uint16_t pwmDutyCycle);
 
 #define PWM_COEFF_RANK 10
-#define PWM_COEFF_DEVIDER 1 << 10
+#define PWM_COEFF_DEVIDER (1 << PWM_COEFF_RANK)
 void setCoeff(uint16_t pwmCoeff);
 
 void setADirection(int_fast8_t direct);